Pathing2D is a pathfinding algorithm that takes an octomap as an input, converts it to a 2D map, and performs an A* search to find a path to the goal. It takes into account the height changes and optimizes the route both over distance and terrain difficulty.
If you are getting an issue with PCL not being found, try this:
sudo updatedb
locate PCLConfig
Copy the directory containing that file and run:
catkin_make -DPCL_DIR=/usr/lib/x86_64-linux-gnu/cmake/pcl/
- Add orientation to each position